CN111402398B - Real-time three-dimensional reconstruction system and method of real-volume wood model based on distributed sensing - Google Patents
Real-time three-dimensional reconstruction system and method of real-volume wood model based on distributed sensing Download PDFInfo
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Abstract
The embodiment of the invention provides a real-time three-dimensional reconstruction system and a real-time three-dimensional reconstruction method of a real-volume wood model based on distributed sensing, wherein the system comprises the following steps: the distributed sensing subsystem and the three-dimensional reconstruction subsystem realize the acquisition of identification information of each entity building block and connection information between the entity building block and the lower entity building block through the distributed sensing subsystem, and realize the construction of three-dimensional splicing models of the entity building block and the lower entity building block through the three-dimensional reconstruction subsystem. The real-time three-dimensional reconstruction system of the real-volume wood model based on the distributed sensing, provided by the embodiment of the invention, introduces the active and distributed sensing subsystems, effectively improves the identification precision, simultaneously keeps the characteristics of light weight and expansibility, and can improve the robustness of the whole system. In the embodiment of the invention, based on the detection of the topological relation between the connected entity building blocks and the lower entity building blocks, the problems of shielding, identification and the like in a computer vision method can be solved in principle.
Description
Technical Field
The invention relates to the technical field of computer aided design, in particular to a real-time three-dimensional reconstruction system and method of a real-volume wood model based on distributed sensing.
Background
With the development of digital technology, digital three-dimensional models are increasingly used in a variety of scenes and fields, such as mechanical design, architectural design, entertainment design, and the like. However, three-dimensional modeling is still a highly professional task, and it is difficult for novice users to learn the design of a three-dimensional model in a short time, thereby also hindering the possibility that the user can rapidly perform prototype design according to the user's own needs. In the field of computer aided design, how to provide a tool for facilitating a user to build a digital model is a long-standing research hotspot.
The entity building block is a common tool for children education and creative design, and has the characteristics of easiness in use, high flexibility and the like. Through the combination of different building blocks, children or designers can easily create various physical models such as buildings, tools, animation characters and the like. If the model built by the entity building blocks can be digitally reconstructed and three-dimensionally displayed in real time, an interaction mode of coupling a real object and digital information can be built, so that a user can create and experience digital interactive contents through entity interaction.
The traditional solid model three-dimensional reconstruction mostly adopts the three-dimensional reconstruction of a computer vision technology and the three-dimensional reconstruction of a capacitance measurement technology. In three-dimensional reconstruction using computer vision techniques, the most commonly used method is to detect structural information of a model from an image acquired by a camera. At present, researchers use building blocks made of glass fibers, marks for visual registration are adhered to the bottoms of the building blocks, and plane coordinates and height information of different building blocks are obtained through cameras erected at the bottoms of the building blocks. In addition, researchers have used depth cameras to identify the building block structures that are pieced together on the desktop. Other researchers then further track the user's splicing operation through the depth camera. In three-dimensional reconstruction using capacitance measurement technology, which is a technology commonly used for position and structure sensing in embedded sensing, researchers design a capacitor block composed of conductive and non-conductive fibers together by using a fused deposition 3D printer, when the capacitor blocks are stacked, capacitors are connected in parallel, capacitance measurement values are linearly increased by a base number, and a system detects the number of stacked blocks by mapping the measurement capacitance values to the number of modules. In addition, other researchers have proposed a solid three-dimensional modeling system that can simultaneously identify more modules having capacitors built therein, and other researchers have developed a sensing system based on a capacitive touch screen that can detect the number of blocks stacked on the capacitive touch screen, and when a user touches one side of a block, several contact points corresponding to the number of blocks stacked on the touch panel are generated, and the system can estimate the number of blocks according to a combination of the generated contact points.
However, both the three-dimensional reconstruction using the computer vision technology and the three-dimensional reconstruction using the capacitance measurement technology belong to the passive detection technology, and when the three-dimensional reconstruction using the computer vision technology is used, the implementability is limited by factors such as the installation position of the camera and the image quality, the reconstruction effect is also affected by factors such as light and shielding, and the recognition stability is low. When three-dimensional reconstruction using capacitive measurement techniques is used, many external environmental influences, such as interference caused by touching with a human hand or other conductors, may also be encountered, which may lead to recognition errors. Therefore, a real-time three-dimensional reconstruction system and a real-time three-dimensional reconstruction method based on distributed sensing are urgently needed.
Disclosure of Invention
To overcome the above problems or at least partially solve the above problems, embodiments of the present invention provide a system and a method for real-time three-dimensional reconstruction of a real-volume wood model based on distributed sensing.
In a first aspect, an embodiment of the present invention provides a real-time three-dimensional reconstruction system for an entity building block model based on distributed sensing, including: the distributed sensing subsystem and the three-dimensional reconstruction subsystem;
the distributed sensing subsystem comprises a building block module and a coordinator, the building block module is arranged in an entity building block and comprises a first circuit board, a second circuit board, a microprocessor and a wireless communication module, the first circuit board and the second circuit board are respectively embedded in the upper layer and the lower layer of the entity building block, a first type of communication device corresponding to the protrusion of the entity building block is welded on the outer side of the first circuit board, and a second type of communication device corresponding to the groove of the entity building block is welded on the outer side of the second circuit board; the wireless communication module is respectively connected with the microprocessor and the coordinator;
the microprocessor and the wireless communication module are arranged between the first circuit board and the second circuit board, the microprocessor is respectively connected with the first type of communication device and the second type of communication device, the microprocessor is used for storing identification information of the entity building blocks, and is also used for acquiring identification information of lower entity building blocks connected with the entity building blocks based on the second type of communication devices in the entity building blocks, determining connection information between the entity building blocks and the lower entity building blocks, sending the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information to the coordinator through the wireless communication module, and forwarding the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information to the three-dimensional reconstruction subsystem through the coordinator;
and the three-dimensional reconstruction subsystem is used for constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
Preferably, the microprocessor specifically includes: the system comprises a plurality of first-type digital IOs and a plurality of second-type digital IOs, wherein each first-type digital IO is simulated as a TX end of a UART serial port, and each second-type digital IO is simulated as an RX end of the UART serial port;
each first-type digital IO is connected with one first-type communication device, and each second-type digital IO is connected with one second-type communication device.
Preferably, if it is determined that the TX end corresponding to any one of the first type digital IOs is working, the TX ends corresponding to other first type digital IOs included in the microprocessor except for the any one of the first type digital IOs are at a high level; accordingly, the number of the first and second electrodes,
and if the RX end corresponding to any second-type digital IO is judged and known to work, the RX ends corresponding to other second-type digital IOs except any second-type digital IO in the micro processor are at a high level.
Preferably, the wireless communication module is specifically a Zigbee module;
correspondingly, the coordinator is specifically a Zigbee coordinator.
Preferably, the connection information specifically includes: identification information of a target RX end correspondingly connected with the lower entity building block and identification information of a target TX end correspondingly connected with the entity building block, wherein the identification information is contained in a microprocessor in the entity building block.
Preferably, the three-dimensional reconstruction subsystem comprises: a structural reconstruction module, the structural reconstruction module specifically configured to:
converting the identification information of the target RX end and the identification information of the target TX end into two-dimensional vectors;
calculating a translation vector of the lower solid block relative to the solid block and cosine and sine values of a rotation angle of the lower solid block relative to the solid block based on the two-dimensional vector;
determining a transformation matrix between the entity building blocks and the lower entity building blocks based on the translation vector, the cosine value and the sine value, calculating position information of a three-dimensional model of the lower entity building blocks based on the transformation matrix and the position information of the three-dimensional model of the entity building blocks, and constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks.
Preferably, the building block module further comprises: a power management module and a battery;
the power management module is connected with an enabling end of the wireless communication module, the power management module is respectively connected with the microprocessor and the battery, and the battery is used for supplying power to the system.
In a second aspect, an embodiment of the present invention provides a method for real-time three-dimensional reconstruction of a distributed sensing-based real-volume wood model, implemented based on the system in the first aspect, including:
determining identification information of an entity building block, acquiring identification information of a lower entity building block connected with the entity building block based on a second type of communication device in the entity building block, and determining connection information between the entity building block and the lower entity building block;
and constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
In a third aspect, an embodiment of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for real-time three-dimensional reconstruction of a solid block model based on distributed sensing according to the second aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method for real-time three-dimensional reconstruction of a distributed sensing-based real-volume wood model according to the second aspect.
The embodiment of the invention provides a real-time three-dimensional reconstruction system and a real-time three-dimensional reconstruction method of a real-volume wood model based on distributed sensing, wherein the system comprises the following steps: the distributed sensing subsystem and the three-dimensional reconstruction subsystem realize the acquisition of identification information of each entity building block and connection information between the connected real volume wood and the lower entity building block through the distributed sensing subsystem, and realize the construction of three-dimensional splicing models of the entity building blocks and the lower entity building blocks through the three-dimensional reconstruction subsystem. The real-time three-dimensional reconstruction system of the real-volume wood model based on the distributed sensing, provided by the embodiment of the invention, introduces an active and distributed sensing subsystem from the perspective of universality of a sensing environment, can effectively improve the identification precision, simultaneously keeps the characteristics of light weight and expansibility, and can improve the robustness of the whole system. In the embodiment of the invention, based on the detection of the topological relation between the connected solid volume wood and the lower solid building blocks, the problems of shielding, identification and the like in a computer vision method can be solved in principle, and the method can be widely applied to a plurality of technical fields of education, entertainment, design and the like. In addition, in the system provided by the embodiment of the invention, a more elaborate and complex model can be built by using entity building blocks with smaller volumes, and the system has higher flexibility and expansibility and is used for wider interactive scenes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without creative efforts for those skilled in the art.
Fig. 1 is a schematic structural diagram of a real-time three-dimensional reconstruction system of a real-volume wood model based on distributed sensing according to an embodiment of the present invention;
fig. 2a is a schematic structural diagram of a solid block in a real-time three-dimensional reconstruction system of a real-volume wood model based on distributed sensing according to an embodiment of the present invention;
fig. 2b is a schematic upper-layer structure diagram of a solid block in a real-time three-dimensional reconstruction system of a real-volume wood model based on distributed sensing according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a microprocessor in a building block module in a real-time three-dimensional reconstruction system of a real-volume wood model based on distributed sensing according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a connection structure between an entity block and a lower entity block in a real-time three-dimensional reconstruction system of a real-volume wood model based on distributed sensing according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a real-time three-dimensional reconstruction method of a real-volume wood model based on distributed sensing according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only used for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention will be specifically understood by those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a real-time three-dimensional reconstruction system for a real-volume wood model based on distributed sensing, including: a distributed sensing subsystem 1 and a three-dimensional reconstruction subsystem 2. The distributed sensing subsystem 1 comprises a building block module 11 and a coordinator 12, the building block module 11 is arranged in an entity building block, the building block module 11 comprises a first circuit board 111, a second circuit board 112, a microprocessor 113 and a wireless communication module 114, the first circuit board 111 and the second circuit board 112 are respectively embedded in the upper layer and the lower layer of the entity building block, a first type of communication device corresponding to the protrusion of the entity building block is welded on the outer side of the first circuit board 111, and a second type of communication device corresponding to the groove of the entity building block is welded on the outer side of the second circuit board 112; the wireless communication module 114 is connected with the microprocessor 113 and the coordinator 12, respectively.
The microprocessor 113 and the wireless communication module 114 are disposed between the first circuit board 111 and the second circuit board 112, the microprocessor 113 is connected to the first type communication device and the second type communication device, respectively, the microprocessor 113 is configured to store identification information of the entity blocks, acquire identification information of lower entity blocks connected to the entity blocks, determine connection information between the entity blocks and the lower entity blocks, send the identification information of the entity blocks, the identification information of the lower entity blocks, and the connection information to the coordinator 12 through the wireless communication module 114, and forward the identification information, and the connection information to the three-dimensional reconstruction subsystem 2 by the coordinator 12.
The three-dimensional reconstruction subsystem 2 is used for constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
Specifically, the real-time three-dimensional reconstruction system (hereinafter referred to as a system) of the real-volume wood model based on distributed sensing provided in the embodiment of the present invention performs a real-time three-dimensional reconstruction operation of the real-volume wood model, that is, as entity blocks are spliced, the system performs a three-dimensional reconstruction operation once every time a connected entity block is added. That is, the currently performed three-dimensional reconstruction action is performed based on the result of the last three-dimensional reconstruction. In the embodiment of the invention, the entity building blocks B at the topmost layer are connected only at the current timei(i.gtoreq.2) as an example, the connected lower solid block is denoted by Bi-1The upper entity block of its future connections is denoted Bi+1. When i is 1, the solid building block B1Is the first solid volume wood model in the system.
The system in the embodiment of the invention comprises a distributed sensing subsystem and a three-dimensional reconstruction subsystem. The distributed sensing subsystem comprises building block modules and a coordinator, wherein the building block modules are arranged in each entity building block. As shown in fig. 2a and 2b, each solid block has an external structure and an internal structure which are identical, the external structure comprises an upper layer 01 and a lower layer 02, and the upper layer 01 and the lower layer 02 are assembled to form an outer shell of the solid block. The upper layer 01 has a plurality of projections, which may be numbered in rows, and the numbers may increase in order from 0. The lower layer 02 has a plurality of recesses corresponding to each protrusion, the protrusions and recesses of each solid block being in one-to-one correspondence. The inner structure comprises a building block module 11, a first circuit board 111 included in the building block module 11 is embedded in the upper layer 01 of the entity building block, a second circuit board 112 is embedded in the lower layer 02 of the entity building block, first-type communication devices are welded on the outer side of the first circuit board 111, each first-type communication device is correspondingly located in a bulge, second-type communication devices are welded on the outer side of the second circuit board 112, and each second-type communication device is correspondingly located in a groove. The upper layer 01 and the lower layer 02 are assembled to form the solid building block, the first type communication device and the second type communication device are exposed through the holes in the upper layer 01 and the lower layer 02 respectively, and when the two solid building blocks are spliced together up and down, the first type communication device and the second type communication device in corresponding positions can be in communication connection. That is to say, the protrusion of entity building blocks is unclosed's protrusion, and the recess of entity building blocks is unclosed's recess too to guarantee that second type communication device can be connected with the first type communication device communication in the protrusion of the lower part entity building blocks that this entity building blocks is connected, first type communication device can be connected with the second type communication device communication in the recess of the upper part entity building blocks that this entity building blocks is connected.
In the embodiment of the present invention, the communication connection between the first-type communication device and the second-type communication device may be an optical communication connection or an electrical communication connection. When the communication connection is an optical communication connection, the first type communication device may be an infrared transmitting tube, and the second type communication device may be an infrared phototube; when the communication connection is an electrical communication connection, the first type of communication device may be a metal contact, and the second type of communication device may be a pogo pin connector. In addition, the first type communication device and the second type communication device may be other devices, which is not specifically limited in the embodiment of the present invention.
The microprocessor 113 and the wireless communication module 114 are arranged between the first circuit board 111 and the second circuit board 112, the microprocessor 113 is respectively connected with a first type communication device and a second type communication device, the microprocessor 113 obtains identification information of a lower entity building block connected with the entity building block and first connection information of the lower entity building block and the entity building block through the second type communication device, and determines second connection information of the entity building block and the lower entity building block, the first connection information and the second connection information jointly form connection information between the entity building block and the lower entity building block, and the identification information of the entity building block stored by the microprocessor 113 and the first connection information of an upper entity building block connected with the future in the entity building block can be transmitted to the microprocessor in the upper entity building block through the first type communication device. The microprocessor 113 sends the identification information of the physical blocks, the identification information of the lower physical blocks and the connection information to the coordinator via the wireless communication module 114, and the coordinator forwards the identification information to the three-dimensional reconstruction subsystem. The first connection information may specifically be first type communication device information included in the lower entity building block and achieving communication connection with a second type communication device in the entity building block, and the second connection information may specifically be second type communication device information included in the entity building block and achieving communication connection with the first type communication device in the lower entity building block.
In the embodiment of the present invention, the wireless communication module 114 included in each entity building block is connected to the microprocessor 113 and the coordinator 12, the microprocessor 113 and the wireless communication module 114 may both have a hardware UART serial port, and the wireless communication module 114 may be specifically connected to the microprocessor 113 through the hardware UART serial port. The wireless communication module 114 is communicatively coupled to the coordinator 12. The building block module sends the information in the microprocessor 113 to the coordinator through the wireless communication module 114, and the information is collected and processed by the coordinator and sent to the three-dimensional reconstruction subsystem. In the embodiment of the invention, only one coordinator is needed in the system, and the wireless communication modules in all the entity building blocks are connected with the coordinator to form a star PAN network. In the embodiment of the invention, the PAN network structure formed by the wireless communication module and the coordinator needs to ensure that the volume of the wireless communication module at the node of each network structure is small enough, so that the wireless communication module is convenient to embed and integrate; moreover, a large number of entity building blocks can be ensured to be used simultaneously, namely the number of nodes in a network structure is ensured; finally, the PAN network structure is required to interact with the existing interactive device, such as a tablet computer, and the three-dimensional reconstruction action is realized by the three-dimensional reconstruction subsystem carried by the handheld device. Therefore, the wireless communication module 114 may specifically be a Zigbee module; correspondingly, the coordinator is specifically a Zigbee coordinator. The coordinator can be bridged to a Bluetooth module through a hardware UART serial port, interacts with the interaction equipment through the Bluetooth module, and transmits information obtained through summarizing processing to the interaction equipment.
Finally, in the embodiment of the present invention, the three-dimensional reconstruction subsystem may be installed on an interactive device, which may be a computer, a tablet computer, or the like, and a three-dimensional splicing model of the entity building blocks and the lower entity building blocks is constructed by the interactive device based on the identification information of the entity building blocks, the identification information of the lower entity building blocks, and the connection information. The process of constructing the three-dimensional splicing model, that is, the process of determining the topological connection structure through topological relation detection, namely, the respective position information of the connected entity building blocks and the lower entity building blocks, the connection information between the two entity building blocks, and the like are required to be determined.
The embodiment of the invention provides a real-time three-dimensional reconstruction system of a real-volume wood model based on distributed sensing, which comprises the following components: the distributed sensing subsystem and the three-dimensional reconstruction subsystem realize the acquisition of identification information of each entity building block and connection information between the connected entity building blocks and the lower entity building blocks through the distributed sensing subsystem, and realize the construction of three-dimensional splicing models of the entity building blocks and the lower entity building blocks through the three-dimensional reconstruction subsystem. The real-time three-dimensional reconstruction system based on the distributed sensing real-volume wood model provided by the embodiment of the invention introduces an active and distributed sensing subsystem from the perspective of universality of a sensing environment, can effectively improve the identification precision, simultaneously keeps the characteristics of light weight and expansibility, and can improve the robustness of the whole system. In the embodiment of the invention, based on the detection of the topological relation between the connected entity building blocks and the lower entity building blocks, the problems of shielding, identification and the like in a computer vision method can be solved in principle, and the method can be widely applied to a plurality of technical fields of education, entertainment, design and the like. In addition, in the system provided by the embodiment of the invention, a more elaborate and complex model can be built by using entity building blocks with smaller volume, and the system has higher flexibility and expansibility and is used for wider interactive scenes.
On the basis of the foregoing embodiment, in the real-time three-dimensional reconstruction system for a distributed sensing-based real-volume wood model provided in the embodiment of the present invention, the microprocessor specifically includes: the system comprises a plurality of first-type digital IOs and a plurality of second-type digital IOs, wherein each first-type digital IO is simulated as a TX end of a UART serial port, and each second-type digital IO is simulated as an RX end of the UART serial port;
each first-type digital IO is connected with one first-type communication device, and each second-type digital IO is connected with one second-type communication device.
Specifically, in the embodiment of the present invention, as shown in fig. 3, the microprocessor specifically includes: each first-type digital IO is simulated into a TX end of a UART serial port in a software mode, namely each first-type digital IO is equivalent to the TX end of the UART serial port and used for sending information; each second-class digital IO is simulated into an RX end of a UART serial port in a software mode, namely each second-class digital IO is equivalent to the RX end of the UART serial port and used for receiving information. The number of the first type of digital IO and the second type of digital IO is equal to the number of the protrusions and the grooves of the entity building block. In the embodiment of the present invention, the physical building block may adopt an 8-granule physical building block as an example, that is, the number of the first type of digital IO and the second type of digital IO is 8, and the number of the TX end and the RX end obtained through simulation is also 8, in the embodiment of the present invention, the TX end and the RX end may be respectively numbered, specifically, from 0, TX0, TX1, TX2, TX3, TX4, TX5, TX6, TX7, RX0, RX1, RX2, RX3, RX4, RX5, RX6, and RX7 are obtained. That is to say, each entity building block uses 16 independent digital IO and is simulated into 8 independent UART serial ports with serial numbers of 0 to 7 in a software mode. The microprocessor and the first circuit board are respectively and correspondingly connected with one first-class communication device through each first-class digital IO to realize connection, and the microprocessor and the second circuit board are respectively and correspondingly connected with one second-class communication device through each second-class digital IO to realize connection.
On the basis of the above embodiment, the building block module further includes: as shown in fig. 3, the power management module 115 is connected to an enable terminal of the wireless communication module 114, the power management module 115 is connected to the microprocessor 113 and the battery 116, and the battery 116 is used for supplying power to the system.
Specifically, the battery 116 not only supplies power to the power management module 115 and the wireless communication module 114, but also supplies power to the microprocessor 113 through the power management module 115, and the battery 116 may specifically be a lithium ion battery. The wireless communication module 114 has an enable terminal, the enable terminal of the wireless communication module 114 is connected to the power management module 115, and the power management module 115 is controlled by the enable terminal, so that the system can automatically enter a low power consumption state to sleep when there is no data. In the embodiment of the present invention, the power management module 115 may specifically be a power management chip.
In order to charge the battery conveniently, the charging hole is formed in the upper layer of the solid building block, and the charger can be connected with the battery after being connected into the charging hole to realize charging. The number of the charging holes can be selected according to the type of the charger, and specifically can be 4, two "+", two "-".
In the embodiment of the invention, the effective service time of the building block module can be prolonged by arranging the battery in the building block module, the energy-saving of the system can be realized by introducing the enabling terminal to control the power management module, and the service time of the solid building block is prolonged by charging the battery through the charging hole arranged on the upper layer of the solid building block.
On the basis of the above embodiment, if it is determined that the TX end corresponding to any one first type of digital IO works, the TX ends corresponding to other first type of digital IO, except for the any one first type of digital IO, included in the microprocessor are at a high level; accordingly, the number of the first and second electrodes,
and if the RX end corresponding to any second-type digital IO is judged and known to work, the RX ends corresponding to other second-type digital IOs except any second-type digital IO in the micro processor are at a high level.
In particular, since UART serial ports generally require that both ends of the connection be grounded to each other to form a reference level for proper communication. Due to the complexity of the splicing and inserting form of the entity building blocks, common grounding is difficult to be carried out in a mode of increasing physical connection points, in the embodiment of the invention, through a mode of time sharing and function division use of multiple paths of serial ports, when a certain TX/RX port sends/receives data, other idle TX/RX ports are at a high level, at the moment, the idle ports connected up and down form an equipotential, and the high level is used as a reference voltage to enable communication to be carried out smoothly.
On the basis of the above embodiment, the connection information specifically includes: identification information of a target RX end correspondingly connected with the lower entity building block and identification information of a target TX end correspondingly connected with the real volume wood, wherein the identification information is contained in a microprocessor in the entity building block, and the identification information of the target TX end correspondingly connected with the real volume wood is contained in a microprocessor in the lower entity building block.
Specifically, in this embodiment of the present invention, the first connection information may specifically be identification information of the target TX end, that is, a number of the target TX end, and the second connection information may specifically be identification information of the target RX end, that is, a number of the target RX end. The first connection information is obtained by the microprocessor in the entity building block through the second type of communication device, and the microprocessor in the entity building block correspondingly obtains the second connection information based on the first connection information. As shown in FIG. 4, the lower solid block B1TX7 and entity building block B2RX4 connection, lower solid block B1TX3 and entity building block B2RX0 in (1). Building block B with lower solid1The identification information is number 1, entity building block B2Is number 2. Lower solid building block B1Different information can be sent to the entity building block B through a TX terminal of the microprocessor2The corresponding RX end of the microprocessor. The information sent by each UART serial port comprises: lower solid building block B1Identification information and lower entity building block B1Contained in the microprocessor and the physical building block B2Identification information of the target TX end corresponding to the connection. The TX terminal sends one byte of data at a time, one byte is represented by binary 8, and the upper four bits represent the lower entity building block B1The lower four bits represent the identification information of the target TX terminal. Taking FIG. 4 as an example, B1TX3 and TX7 of B2 are both target TX terminals, and RX0 and RX4 of B2 are both target TX terminals. B is1TX7 is connected to B2RX4, thus B2The information received by RX4 may be represented as 0x17, B in hexadecimal1TX3 is connected to B2RX0, thus B2The information received by RX0 may be represented as 0x13 in hexadecimal. By B2Each building block module can restore the serial numbers and the connection modes of all connected entity building blocks at the lower part from the information received by the RX end; furthermore, all the building block modules transmit information to an upper computer of the interactive device through a PAN network formed by the wireless communication module and the coordinator, and the three-dimensional model can be reconstructed through an upper computer program.
It should be noted that the aggregation process of the coordinator is specifically to use the entity building block B2Identification information and entity building block B2And a lower solid block B1First connection information between, B2Occupies one bit and is located in front of the first connection information, 0x17 becomes 20x17, and 0x13 becomes 20x 17.
On the basis of the above embodiment, the three-dimensional reconstruction subsystem includes: a structural reconstruction module, the structural reconstruction module specifically configured to:
converting the identification information of the target RX end and the identification information of the target TX end into two-dimensional vectors;
calculating a translation vector of the lower solid block relative to the solid block and cosine and sine values of a rotation angle of the lower solid block relative to the solid block based on the two-dimensional vector;
and determining a transformation matrix of the lower entity building block relative to the entity building block based on the translation vector, the cosine value and the sine value, calculating position information of a three-dimensional model of the lower entity building block based on the transformation matrix and the position information of the three-dimensional model of the entity building block, and constructing a three-dimensional splicing model of the entity building block and the lower entity building block.
Specifically, in the embodiment of the present invention, the three-dimensional reconstruction subsystem may specifically include: the device comprises an information processing module, a structure reconstruction module and a three-dimensional display module. The three-dimensional reconstruction subsystem can be developed by applying a Unity engine and written by C # language. The information processing module is used for receiving and analyzing information sent by a microprocessor in the entity building block and informing the structure reconstruction module to carry out corresponding topology detection calculation in a callback function mode; the structure reconstruction module receives the corresponding information, calculates the spatial topological correlation among the building blocks, and executes the operation of creating and releasing the model data structure; the three-dimensional display module provides visual feedback of the three-dimensional splicing model of the solid building blocks and the lower solid building blocks, namely the three-dimensional splicing model is displayed.
The model data structure received by the structure rebuilding module includes identification Information (ID), location information (Pos), and connection information Con of the entity building block, which are specifically denoted as (ID, Pos, Con). Wherein, Con ═ Con (Key, Value) is stored using a dictionary-type data structure, the Key Value is identification information of a lower entity building block connected with the entity volume, the Value is an array formed by numbers of an RX end and a TX end, which are correspondingly connected with the lower entity building block, of the entity building block, and each element in the array can be recorded as [ Portx, port ═ b]And Portx and Porty are respectively the number of an RX port of the entity building block and the number of a TX port of the lower entity building block. The entity building block and the lower entity building block are correspondingly connected with a plurality of groups of RX ends and TX ends, and a plurality of Value array elements are correspondingly arranged. B is2The corresponding model data structure may be specifically represented as (B2, Pos, Con (B1, Array ([0,3 ])],[4,7]))). The topology detection process is represented as a recursive process, i.e. the first created entity block B2And as a root node, establishing an absolute coordinate system by taking the self coordinate as an origin, wherein the position information can be set to be (0,0,0), namely, the absolute coordinate system is taken as the origin of the coordinate, so that the position information of the three-dimensional model of other entity building blocks is determined. By solid building blocks B2Calculation of downward connection information for lower entity building blocks B1Relative to solid building block B2To determine the lower entity block B1The location information of (1). The method for determining the transformation matrix specifically comprises the following steps:
of the target RX terminalAnd converting the identification information and the identification information of the target TX end into a two-dimensional vector. Note Array ([0, 3)],[4,7]＝Array([P1,Q1],[P2,Q2]When converting the two-dimensional vector, the number 0 can be used as the origin of coordinates, the number directions of 0-3 are used as the x-axis, and the number directions of 0-4 are used as the y-axis for conversion, so as to obtain the
It should be noted that, when the number of Value array elements exceeds two, two array members are arbitrarily selected to perform two-dimensional vector conversion and perform subsequent processing.
According to the two-dimensional vector, calculating the translation vector of the lower solid block relative to the solid block
Specifically, the calculation can be performed according to any selected element, for example, Arr (1) is selected, that is
The first element in (1)
Translation vector
And according to the two-dimensional vector, calculating the cosine value of the rotation angle of the lower solid building block relative to the solid building block by the following formula:
and theta is the rotation angle of the lower solid building block relative to the solid building block.
Similarly, the sine value sin θ of the rotation angle can be calculated.
Finally, according to the translation vector
The cosine value cos theta and the sine value sin theta determine a transformation matrix M between the solid block and the lower solid block by the following formula.
Wherein the content of the first and second substances,
as translation vectors
The component in the x-direction is,
as translation vectors
The component in the y-direction.
Is a translation matrix of the lower solid blocks relative to the solid blocks,
is a rotation matrix of the lower solid block relative to the solid block.
In summary, the real-time three-dimensional reconstruction system for the real-volume wood model based on distributed sensing provided in the embodiments of the present invention can detect the spatial posture and the topology correlation information of the entity building blocks in real time, and feed back the information to the user in real time in the form of the virtual three-dimensional model, and the modeling process fully utilizes the real construction experience of the user, and is natural and efficient. Furthermore, by utilizing distributed sensing, a plurality of entity building blocks can be used as input equipment, the characteristic of spatial multiplexing is embodied, and a plurality of users are allowed to collaboratively build a three-dimensional model.
As shown in fig. 5, on the basis of the foregoing embodiment, an embodiment of the present invention provides a method for real-time three-dimensional reconstruction of a physical building block model based on distributed sensing, which is implemented based on the system provided in the foregoing embodiment, and includes:
s51, determining identification information of an entity building block, acquiring identification information of a lower entity building block connected with the entity building block based on a second type of communication device in the entity building block, and determining connection information between the entity building block and the lower entity building block;
s52, constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
Specifically, the method provided in the embodiment of the present invention is executed mainly by the system in the above embodiment, step S51 is specifically implemented by a microprocessor in a building block module in each solid building block, and step S52 is specifically implemented by a three-dimensional reconstruction subsystem. For a specific implementation process and achieved technical effects, reference is made to the above system class embodiments, and details of the embodiments of the present invention are not repeated here.
As shown in fig. 6, on the basis of the above embodiment, an embodiment of the present invention provides an electronic device, including: a processor (processor)601, a memory (memory)602, a communication Interface (Communications Interface)603, and a communication bus 604; wherein the content of the first and second substances,
the processor 601, the memory 602, and the communication interface 603 communicate with each other via a communication bus 604. The memory 602 stores program instructions executable by the processor 601, and the processor 601 is configured to call the program instructions in the memory 602 to perform the methods provided by the above method embodiments, for example, including: determining identification information of an entity building block, acquiring identification information of a lower entity building block connected with the entity building block based on a second type of communication device in the entity building block, and determining connection information between the entity building block and the lower entity building block; and constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
It should be noted that, when being implemented specifically, the electronic device in this embodiment may be a server, a PC, or other devices, as long as the structure includes the processor 601, the communication interface 603, the memory 602, and the communication bus 604 shown in fig. 6, where the processor 601, the communication interface 603, and the memory 602 complete mutual communication through the communication bus 604, and the processor 601 may call the logic instruction in the memory 602 to execute the above method. The embodiment does not limit the specific implementation form of the electronic device.
The logic instructions in memory 602 may be embodied in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone article of manufacture. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Further, an embodiment of the present invention discloses a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the method provided by the above method embodiments, for example, including: determining identification information of the solid volume wood, acquiring identification information of a lower solid building block connected with the solid volume wood based on a second type of communication device in the solid building block, and determining connection information between the solid building block and the lower solid building block; and constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
On the basis of the foregoing embodiments, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the transmission method provided by the foregoing embodiments, and the computer program includes, for example: determining identification information of the solid volume wood, acquiring identification information of a lower solid building block connected with the solid volume wood based on a second type of communication device in the solid building block, and determining connection information between the solid building block and the lower solid building block; and constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement the present invention without any inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (8)
1. A real-time three-dimensional reconstruction system of a real-volume wood model based on distributed sensing is characterized by comprising the following components: the distributed sensing subsystem and the three-dimensional reconstruction subsystem;
the distributed sensing subsystem comprises a building block module and a coordinator, the building block module is arranged in an entity building block and comprises a first circuit board, a second circuit board, a microprocessor and a wireless communication module, the first circuit board and the second circuit board are respectively embedded in the upper layer and the lower layer of the entity building block, a first type of communication device corresponding to the protrusion of the entity building block is welded on the outer side of the first circuit board, and a second type of communication device corresponding to the groove of the entity building block is welded on the outer side of the second circuit board; the wireless communication module is respectively connected with the microprocessor and the coordinator;
the microprocessor and the wireless communication module are arranged between the first circuit board and the second circuit board, the microprocessor is respectively connected with the first type of communication device and the second type of communication device, the microprocessor is used for storing identification information of the entity building blocks, and is also used for acquiring identification information of lower entity building blocks connected with the entity building blocks based on the second type of communication devices in the entity building blocks, determining connection information between the entity building blocks and the lower entity building blocks, sending the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information to the coordinator through the wireless communication module, and forwarding the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information to the three-dimensional reconstruction subsystem through the coordinator;
the three-dimensional reconstruction subsystem is used for constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information;
the connection information specifically includes: identification information of a target RX end correspondingly connected with the lower entity building block, which is contained in the microprocessor in the entity building block, and identification information of a target TX end correspondingly connected with the entity building block, which is contained in the microprocessor in the lower entity building block;
the three-dimensional reconstruction subsystem comprises: a structural reconstruction module specifically configured to:
converting the identification information of the target RX end and the identification information of the target TX end into two-dimensional vectors;
calculating a translation vector of the lower solid block relative to the solid block and cosine and sine values of a rotation angle of the lower solid block relative to the solid block based on the two-dimensional vector;
and determining a transformation matrix of the lower entity building block relative to the entity building block based on the translation vector, the cosine value and the sine value, calculating position information of a three-dimensional model of the lower entity building block based on the transformation matrix and the position information of the three-dimensional model of the entity building block, and constructing a three-dimensional splicing model of the entity building block and the lower entity building block.
2. The real-time three-dimensional reconstruction system of the distributed sensing based real-volume wood model according to claim 1, wherein the microprocessor specifically comprises: the system comprises a plurality of first-type digital IOs and a plurality of second-type digital IOs, wherein each first-type digital IO is simulated as a TX end of a UART serial port, and each second-type digital IO is simulated as an RX end of the UART serial port;
each first-type digital IO is connected with one first-type communication device, and each second-type digital IO is connected with one second-type communication device.
3. The real-time three-dimensional reconstruction system of the real-volume wood model based on the distributed sensing according to claim 2, wherein if it is judged that the TX end corresponding to any one first type of digital IO works, the TX end corresponding to the other first type of digital IO included in the microprocessor except for the any one first type of digital IO is at a high level; accordingly, the number of the first and second electrodes,
and if the working state of the RX end corresponding to any second-type digital IO is judged and known, the RX ends corresponding to other second-type digital IOs except the any second-type digital IO in the microprocessor are at a high level.
4. The real-time three-dimensional reconstruction system of the distributed sensing-based real-volume wood model according to claim 1, wherein the wireless communication module is specifically a Zigbee module;
correspondingly, the coordinator is specifically a Zigbee coordinator.
5. The real-time three-dimensional reconstruction system of a distributed sensing based real-volume wood model according to any of claims 1-4, wherein the building blocks module further comprises: a power management module and a battery;
the power management module is connected with an enabling end of the wireless communication module, the power management module is respectively connected with the microprocessor and the battery, and the battery is used for supplying power to the system.
6. A method for real-time three-dimensional reconstruction of a distributed sensing based real-volume wood model based on the system implementation of any one of claims 1 to 5, comprising:
determining identification information of an entity building block, acquiring identification information of a lower entity building block connected with the entity building block based on a second type of communication device in the entity building block, and determining connection information between the entity building block and the lower entity building block;
and constructing a three-dimensional splicing model of the entity building blocks and the lower entity building blocks based on the identification information of the entity building blocks, the identification information of the lower entity building blocks and the connection information.
7. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method for real-time three-dimensional reconstruction of a distributed sensing based real-volume wood model according to claim 6.
8. A non-transitory computer readable storage medium, having stored thereon a computer program, which, when being executed by a processor, carries out the steps of the method for real-time three-dimensional reconstruction of a distributed sensing based real-volume wood model according to claim 6.
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| CN107644577A (en) * | 2017-09-30 | 2018-01-30 | 清华大学 | Electronic building blocks |
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